Related papers: A Hierarchical Variable Autonomy Mixed-Initiative …
With recent advancements in AI and computational tools, intelligent paradigms have emerged to enhance fields like shared autonomy and human-machine teaming in healthcare. Advanced AI algorithms (e.g., reinforcement learning) can…
Learning from real-world robot demonstrations holds promise for interacting with complex real-world environments. However, the complexity and variability of interaction dynamics often cause purely positional controllers to struggle with…
Recently, many humanoid robots have been increasingly deployed in various facilities, including hospitals and assisted living environments, where they are often remotely controlled by human operators. Their kinematic redundancy enhances…
Human collaboration with robots requires flexible role adaptation, enabling the robot to switch between an active leader and a passive follower. Effective role switching depends on accurately estimating human intentions, which is typically…
This paper proposes a control method to address the physical Human-Robot Interaction (pHRI) challenge in the context of hierarchical tasks. A common approach to managing hierarchical tasks is Hierarchical Quadratic Programming (HQP), which,…
Human-swarm interaction (HSI) involves a number of human factors impacting human behaviour throughout the interaction. As the technologies used within HSI advance, it is more tempting to increase the level of swarm autonomy within the…
As autonomous vehicles (AVs) become increasingly prevalent, their interaction with human drivers presents a critical challenge. Current AVs lack social awareness, causing behavior that is often awkward or unsafe. To combat this, social AVs,…
Minimally invasive surgery (MIS) procedures benefit significantly from robotic systems due to their improved precision and dexterity. However, ensuring safety in these dynamic and cluttered environments is an ongoing challenge. This paper…
Collaborative manipulation task often requires negotiation using explicit or implicit communication. An important example is determining where to move when the goal destination is not uniquely specified, and who should lead the motion. This…
Despite the potential benefits of collaborative robots, effective manipulation tasks with quadruped robots remain difficult to realize. In this paper, we propose a hierarchical control system that can handle real-world collaborative…
A fruitful collaboration is based on the mutual knowledge of each other skills and on the possibility of communicating their own limits and proposing alternatives to adapt the execution of a task to the capabilities of the collaborators.…
Despite the fact that robotic platforms can provide both consistent practice and objective assessments of users over the course of their training, there are relatively few instances where physical human robot interaction has been…
For effective human-agent teaming, robots and other artificial intelligence (AI) agents must infer their human partner's abilities and behavioral response patterns and adapt accordingly. Most prior works make the unrealistic assumption that…
Variable autonomy equips a system, such as a robot, with mixed initiatives such that it can adjust its independence level based on the task's complexity and the surrounding environment. Variable autonomy solves two main problems in robotic…
Robots assist in many areas that are considered unsafe for humans to operate. For instance, in handling pandemic diseases such as the recent Covid-19 outbreak and other outbreaks like Ebola, robots can assist in reaching areas dangerous for…
Nowadays, robots are applied in dynamic environments. For a robust operation, the motion planning module must consider other tasks besides reaching a specified pose: (self) collision avoidance, joint limit avoidance, keeping an advantageous…
Humans show specialized strategies for efficient collaboration. Transferring similar strategies to humanoid robots can improve their capability to interact with other agents, leading the way to complex collaborative scenarios with multiple…
Mammals can generate autonomous behaviors in various complex environments through the coordination and interaction of activities at different levels of their central nervous system. In this paper, we propose a novel hierarchical learning…
In this paper, we propose and evaluate a novel human-machine interface (HMI) for controlling a standing mobility vehicle or person carrier robot, aiming for a hands-free control through upper-body natural postures derived from gaze tracking…
While autonomous multi-robots can achieve safe and coordinated navigation, they often struggle to adapt to unforeseen conditions and to capture operator-driven objectives in unstructured environments. We present a Virtual Reality (VR)-based…